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| 6-RSS并联机器人机构多目标优化设计 | |
| 引用本文： | 刘丽琴,张学良,谢黎明,温淑花,杜娟.6-RSS并联机器人机构多目标优化设计[J].太原科技大学学报,2012,33(4):281-285. |
| 作者姓名： | 刘丽琴 张学良 谢黎明 温淑花 杜娟 |
| 作者单位： | 1. 兰州理工大学机电工程学院,兰州730050 太原科技大学机械工程学院,太原030024 2. 太原科技大学机械工程学院,太原,030024 3. 兰州理工大学机电工程学院,兰州,730050 |
| 基金项目： | 国家自然科学基金资助项目，高等学校博士学科点专项科研基金，山西省自然科学基金资助项目，山西高校科技开发项目 |
| 摘 要： | 针对6-RSS并联机器人机构,以工作空间和速度全域性能为目标建立多目标优化模型,并使用改进的基于动态聚集距离多目标粒子群优化算法求解。为了快速有效地求解6-RSS并联机器人机构的工作空间,本文采用蒙特卡洛方法;为了求解带约束的6-RSS并联机器人机构多目标优化模型,将随机排序法引入基于动态聚集距离多目标粒子群优化算法。结果表明,该方法可以得到多个Pareto解供使用者选择,体现了多目标优化设计在并联机构设计中的有效性。 |
| 关 键 词： | 并联机器人 机构设计 多目标优化 粒子群算法 |
Multi-objective Optimization Design for 6-RSS Parallel Robot Mechanism |
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| LIU Li-qin,ZHANG Xue-liang,XIE Li-ming,WEN Shu-hua,DU Juan.Multi-objective Optimization Design for 6-RSS Parallel Robot Mechanism[J].Journal of Taiyuan University of Science and Technology,2012,33(4):281-285. | |
| Authors: | LIU Li-qin ZHANG Xue-liang XIE Li-ming WEN Shu-hua DU Juan |
| Institution: | 1. College of Mechanical Electronic Engineering, Lanzhou University of Technology, Lanzhou 730050, China; 2. College of Mechanical Electronic Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China) |
| Abstract: | A multi-objective optimization model for 6-RSS parallel robot mechanism was proposed and solved by multi-objective particle swarm optimization algorithm based on dynamic crowding distance, the multi-objective model＇ s objectives were the mechanism＇ s work space and global kinematics performance index. In this paper, Monte- Carlo method was presented to evaluate workspace fast and effectively, stochastic ranking was used in multi-objec- tive particle swarm optimization algorithm to solve the multi-objective optimization model with constraints. The resuhs show that many solutions can be obtained for choose by this method, and indicate the effectiveness of muhi-objective optimization in parallel mechanism. |
| Keywords: | parallel robot mechanism optimization muhi-objective optimization particle swarm algorithm |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |